Diff: ui.cpp

Revision:

15:cf67f83d5409

Parent:

14:5777377537a2

Child:

17:1184df616383

Child:

24:e88753f090b8

diff -r 5777377537a2 -r cf67f83d5409 ui.cpp
--- a/ui.cpp	Sat Mar 03 02:14:40 2018 +0000
+++ b/ui.cpp	Sat Mar 03 04:47:26 2018 +0000
@@ -13,6 +13,7 @@
 #include "mbed.h"
 #include "WatchdogThread.h"
 #include "ui.h"
+#include "CameraThread.h"
 
 Serial bluetooth(p9,p10); // Define the bluetooth channel and IO pins
 Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel
@@ -24,23 +25,11 @@
 int setpointR = 0;
 int setpointL = 0;
 
+bool killRobot = false;
+
 // variable to store character recieved from terminal
 char x;
 
-/*
-extern int16_t dPosition, dTime;
-extern float Ki; 
-extern float Kp;
-extern int vel;
-extern int32_t e;
-extern int32_t xState;
-extern int32_t u;
-//extern int time_passed;
-*/
-
-extern int xR, yR, ObjectWidth, ObjectHeight, ObjectArea, SteeringError, DistanceError;
-extern int xRAvg, yRAvg, ObjectWidthAvg, ObjectHeightAvg, ObjectAreaAvg;
-extern Mutex cameraData_mutex;
 int16_t position;
 
 /******************************************************************************
@@ -48,8 +37,24 @@
 ******************************************************************************/
 void consoleUI(void){
 
-    //bluetooth.printf("\r\nsetpointR: %d   setpointL: %d    ObjectWidth: %d     ObjectXcoordinate: %d   SteeringError: %d   DistanceError: %d", setpointR, setpointL, ObjectWidth, xR, SteeringError, DistanceError);    
-    bluetooth.printf("\r\nsetpointR: %d   setpointL: %d    ObjectWidth: %d     ObjectXcoordinate: %d   SteeringError: %d   DistanceError: %d", setpointR, setpointL, ObjectWidth, xR, SteeringError, DistanceError);       
+    cameraData_mutex.lock();
+    bluetooth.printf("\r\nsetpointR: %d   setpointL: %d    ObjectWidth: %d     ObjectXcoordinate: %d   SteeringError: %d   DistanceError: %d", setpointR, setpointL, ObjectWidth, xR, SteeringError, DistanceError);    
+    cameraData_mutex.unlock();
+    //bluetooth.printf("\r\nsetpointR: %d   setpointL: %d    ObjectWidth: %d     ObjectXcoordinate: %d   SteeringError: %d   DistanceError: %d", setpointR, setpointL, ObjectWidth, xR, SteeringError, DistanceError);       
+
+    // safety mechanism
+    if (bluetooth.readable()){
+        x = bluetooth.getc();
+        if (x == 'r')
+        {
+            killRobot = true;
+        }
+        else if (x == 's')
+        {
+            killRobot = false;
+        }
+    }
+    
 }
 
 
@@ -75,7 +80,7 @@
 /******************************************************************************
             A function to Display startup Messsage
 ******************************************************************************/
-void displayStartupMsg()
+void displayStartupMsg_old()
 {
     bluetooth.printf("\r\n************************************");
     bluetooth.printf("\r\n**** DC Motor Control using PWM ****");
@@ -87,6 +92,13 @@
     bluetooth.printf("\r\n-press k to decrease motor speedL");
 }
 
+void displayStartupMsg()
+{
+    bluetooth.printf("\r\n************************************");
+    bluetooth.printf("\r\n**** AUTONOMOUS FOLLOWING ROBOT ****");
+    bluetooth.printf("\r\n************************************");
+    bluetooth.printf("\r\n-PRESS 'r' TO KILL ROBOT");
+}
 
 /******************************************************************************
                            User interface 1